LaserRangeFinder.h

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//  Copyright (C) 2004-2008, Robotics Equipment Corporation GmbH

#ifndef _REC_ROBOTINO_API2_C_LASERRANGEFINDER_H_
#define _REC_ROBOTINO_API2_C_LASERRANGEFINDER_H_

#include "rec/robotino/api2/c/globals.h"
#include "rec/robotino/api2/c/Com.h"

typedef int LaserRangeFinderId;

#define INVALID_LASERRANGEFINDERID -1

DLLEXPORT LaserRangeFinderId LaserRangeFinder_construct();

DLLEXPORT BOOL LaserRangeFinder_destroy( LaserRangeFinderId id );

DLLEXPORT BOOL LaserRangeFinder_setComId( LaserRangeFinderId id, ComId comId );

DLLEXPORT BOOL LaserRangeFinder_grab( LaserRangeFinderId id );

DLLEXPORT BOOL LaserRangeFinder_numMeasurements( LaserRangeFinderId id, unsigned int* numRangeMeasurements, unsigned int* numIntensityMeasurements );

DLLEXPORT BOOL LaserRangeFinder_getReadings(
        LaserRangeFinderId id,
        unsigned int* seq,
        unsigned int* stamp,
        float* angle_min,
        float* angle_max,
        float* angle_increment,
        float* time_increment,
        float* scan_time,
        float* range_min,
        float* range_max,
        float* ranges,
        unsigned int* numRanges,
        float* intensities,
        unsigned int* numIntensities
        );

#endif //_REC_ROBOTINO_API2_C_LASERRANGEFINDER_H_